CN109068940A - Flexible pipe insertion apparatus - Google Patents
Flexible pipe insertion apparatus Download PDFInfo
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- CN109068940A CN109068940A CN201680084815.XA CN201680084815A CN109068940A CN 109068940 A CN109068940 A CN 109068940A CN 201680084815 A CN201680084815 A CN 201680084815A CN 109068940 A CN109068940 A CN 109068940A
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- flexible pipe
- rigidity
- flexural rigidity
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/00078—Insertion part of the endoscope body with stiffening means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
- A61B1/00165—Optical arrangements with light-conductive means, e.g. fibre optics
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0043—Catheters; Hollow probes characterised by structural features
- A61M25/005—Catheters; Hollow probes characterised by structural features with embedded materials for reinforcement, e.g. wires, coils, braids
- A61M25/0053—Catheters; Hollow probes characterised by structural features with embedded materials for reinforcement, e.g. wires, coils, braids having a variable stiffness along the longitudinal axis, e.g. by varying the pitch of the coil or braid
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Abstract
Flexible pipe insertion apparatus (10) has flexible pipe (33), rigidity variable portion (60), state detecting section (70), shape calculation part (81) and rigidity control portion (91).When the first insertion path will be known as by the insertion path of the flexible pipe (33) represented by shape calculation part (81) calculated shape information at the first moment, it will be when being known as the second insertion path by the insertion path of the flexible pipe (33) represented by shape calculation part (81) calculated shape information at the second moment, rigidity control portion (91) is inserted into the displacement in path correspondingly relative to first with the second insertion path, the change of flexural rigidity by rigidly can be changed the flexible pipe (33) that portion (60) implement is controlled the section (37) of flexible pipe (33) corresponding with the insertion displaced portion in path.
Description
Technical field
The present invention relates to the flexible pipe insertion apparatus that flexible pipe is inserted into the duct portion for being inserted into body.
Background technique
Such as the flexible pipe of the insertion section of endoscope apparatus disclosed in Patent Document 1, it is divided into along insertion section
Central axis direction arranges rows of multiple sections (segment).Endoscope apparatus can be scratched with what is detected by SHAPE DETECTION portion
The flexural rigidity of flexible pipe correspondingly, is changed into the flexural rigidity being suitably inserted by the shape of property pipe as unit of section.To,
When carrying out push operation to insertion section, insertion section is to the duct portion (such as intestinal tube of large intestine) for being inserted into body (such as large intestine)
The easy insertion in deep improves.
Such as tube shaped insert device disclosed in Patent Document 2, operation auxiliary information, operation auxiliary are provided to operator
Information is information required for the insertion operation of insertion section, comprising: the shape information of the shape about insertion section；With about insertion
The outer force information for the external force that portion is subject to.The insertion operation of insertion section is carried out using operation auxiliary information auxiliary operation person.
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2016-7434 bulletin
Patent document 2: Japanese Unexamined Patent Publication 2015-16365 bulletin
Summary of the invention
Technical problems to be solved by the inivention
Patent document 1 merely discloses change flexural rigidity, and there is no the values of the flexural rigidity after open change.That is,
When carrying out push operation, even if flexible pipe has the flexural rigidity after changing, easy insertion of the insertion section to the deep of duct portion
It is also possible to not improve.
In patent document 2, although can provide insertion auxiliary information, the suitable of insertion auxiliary information is utilized without providing
When operating method.Insertion auxiliary information considers that operator is beginner and provides originally, but because being beginner, institute
To be possible to be difficult to judge what kind of insertion operation implemented based on provided insertion auxiliary information.Thus, not necessarily
As long as providing insertion auxiliary information, it will be able to be appropriately carried out insertion operation.It buckles therefore, it is possible to be generated in insertion section,
To which insertion section is reduced to the easy insertion in the deep of duct portion.
Present invention has been made in view of the above circumstances, and its purpose is to provide one kind can prevent buckling for flexible pipe,
So as to improve the flexible pipe insertion apparatus of the easy insertion to the deep of duct portion.
For solving the means of technical problem
The flexible pipe insertion apparatus of one embodiment of the present invention includes: flexible pipe, can be inserted into and be inserted into body, quilt
It is divided into and arranges rows of multiple sections along central axis direction；The variable portion of rigidity, can make institute as unit of the section
The flexural rigidity for stating flexible pipe is variable；State detecting section is used to detect the status information of the state about the flexible pipe；Shape
Shape calculation part is based on the status information, calculates the shape information of the shape about the flexible pipe；With rigidity control portion,
It is used to control the change that can be changed the flexural rigidity that portion implements by the rigidity, when will be at the first moment by the shapometer
The insertion path of the flexible pipe represented by the calculated shape information in calculation portion is known as the first insertion path, will be second
Moment is known as second by the insertion path of the flexible pipe represented by the calculated shape information of the shape calculation part
When being inserted into path, the rigidity control portion is corresponding relative to the first insertion displacement in path to the second insertion path
Ground controls changing for the flexural rigidity implemented by the variable portion of the rigidity to section corresponding with the insertion displaced portion in path
Become.
Invention effect
According to the present invention, it is possible to provide one kind can prevent buckling for flexible pipe, so as to improve the depth to duct portion
The flexible pipe insertion apparatus of the easy insertion in portion.
Detailed description of the invention
Fig. 1 is the skeleton diagram of the flexible pipe insertion apparatus of an embodiment of the invention.
Fig. 2 is said to section, state detecting section, shape calculation part, rigidity control portion and the relationship in the variable portion of rigidity
Bright figure.
Fig. 3 is the figure that the variable quantity to flexural rigidity and the flexural rigidity as target are illustrated, wherein flexural rigidity
Variable quantity to second insertion path relative to first insertion the displacement in path it is corresponding.
Specific embodiment
An embodiment of the invention is described in detail with reference to the accompanying drawings.In a part of attached drawing, in order to make
Diagram is clear and the diagram of a part of component is omitted.
As shown in Figure 1, flexible pipe insertion apparatus (hereinafter referred to as insertion apparatus 10) has endoscope 20 and in controlling
The control device 80 of sight glass 20.Control device 80 for example plays a role as rigidity control device, for controlling in endoscope 20
The flexural rigidity of the flexible pipe 35 of the insertion section 30 of middle configuration.Although it is not shown, still insertion apparatus 10 also can have: being used for
The display device for the image that display endoscope 20 takes；With the light for carrying out the light of observation and camera shooting for being emitted endoscope 20
Source device.
Such as endoscope 20 is illustrated by taking therapeutic medical flexible endoscope as an example, but endoscope 20 does not need to limit
Due to this.As long as endoscope 20, as example industrial flexible endoscope, conduit, treatment apparatus, having can be inserted into
It is inserted into the soft insertion section 30 in the duct portion (such as intestinal tube 12 (referring to Fig. 2) of large intestine) of body (such as patient).
As long as insertion section 30 includes the flexible position (such as aftermentioned flexible pipe 35) that can be bent by external force.Inside peep
Mirror 20 can be the endoscope of direct viewing type, be also possible to the endoscope of side-view type.It is inserted into body and is for example not limited to people, be also possible to
Animal or other structures object.Duct portion is for example also possible to industrial pipeline.
Endoscope 20 includes insertion section 30；The operation for being used to operate endoscope 20 linked with the radicle of insertion section 30
Portion 40；With the Universal automatic cable 50 stretched out from the side of operation portion 40.Universal automatic cable 50 has removable relative to control device 80
Interconnecting piece 51.
Insertion section 30 is tubulose, thin long and soft.Insertion section 30 can retreat in the inside of duct portion relative to duct portion
It is mobile.Insertion section 30 can be correspondingly bent with the shape of duct portion.From the front end of insertion section 30 to the butt of insertion section 30
Portion is gone, and insertion section 30 successively has hard tip portion 31, bending section 33 and flexible pipe 35.Hard tip portion 31 and bending section 33 are compared
Flexible pipe 35 is short.Therefore, in the present embodiment, by the front end of flexible pipe 35, bending section 33 and hard tip portion 31 as
The front end of insertion section 30.Flexible pipe 35 has flexibility, can bend because of external force.
It is arranged in a row as shown in Fig. 2, the flexible pipe 35 of insertion section 30 is divided into along the central axis direction of insertion section 30
Multiple sections 37.Section 37 is for example present in the length range of flexible pipe 35.The flexural rigidity of each section 37 can pass through control
The control of device 80 processed and be changed independently.Thus, it is possible to utilize the curved of each section 37 independently controlled by control device 80
Qu Gang property locally changes the flexural rigidity of flexible pipe 35.Section 37 can be used as and the virtual region hair of non-actual existence
The effect of waving, the structure that can also be used as physical presence play a role.The respective length of section 37 can be mutually the same, can also be with that
This is different.For example, the length that can be inserted into the part being inserted into body in insertion section 30 can correspondingly be determined with body is inserted into.
Thus, the part being inserted into body can be inserted by, which being also possible to, is divided into multiple sections 37, configures and is being inserted into the outer of body
It portion and is not inserted into the part being inserted into body and is taken as 1 section 37.
Insertion apparatus 10 includes the variable portion 60 of rigidity, has the rigidity variable by the control of control device 80, energy
Enough change the flexural rigidity of flexible pipe 35 using its rigidity.In the present embodiment, the variable portion 60 of rigidity can be with section 37
Make the flexural rigidity of the flexible pipe 35 in insertion section 30 variable for unit.Therefore, the variable portion 60 of rigidity is for example in flexible pipe 35
The mode that is built in each section 37 of length range for be illustrated.As long as the variable configuration of portion 60 of rigidity is in flexible pipe 35
It is inserted into duct portion and needs to change the position of flexural rigidity.That is, being also possible to only in the section 37 of a part
In built-in rigidity can be changed portion 60.
Position provided with the variable portion 60 of rigidity at least can be used as section 37 and play a role.It is also possible in multiple sections
Built-in 1 rigidity can be changed portion 60 in 37.The variable portion 60 of rigidity can be arranged in 1 row along the central axis direction of insertion section 30,
It can be arranged in multiple rows of.In the case where rigidly variable portion 60 is arranged in plurality of rows of situation, multiple rigidity can be changed portion 60 can with rigidity
Same position is arranged in mode adjacent in the circumferential direction of flexible pipe 35 each other in change portion 60, can also be in the central axis of insertion section 30
It is arranged with being staggered on direction.
Although it is not shown, still the variable portion 60 of rigidity can be for example made of actuator, which has linear by metal
At bourdon tube (coil pipe) and be enclosed in bourdon tube inside electroconductive polymer artificial-muscle
(Electroactive Polymer Artificial Muscle (hereinafter referred to as EPAM)).The central axis of bourdon tube and insertion
The central axis in portion 30 is consistent or is set in parallel.Bourdon tube has the electrode at the both ends that bourdon tube is arranged in.
The electrode in the variable portion 60 of rigidity is connect via signal cable built-in in endoscope 20 with control device 80 respectively, from
The electrode that 80 pairs of rigidity of control device can be changed portion 60 is supplied respectively to electrical power.When applying voltage to EPAM via electrode, EPAM
It can be flexible along the central axis of bourdon tube.But the flexible of EPAM is limited by bourdon tube.To the rigidity in the variable portion 60 of rigidity
It changes.The value of the voltage of application is higher, and the rigidity in the variable portion 60 of rigidity is higher.When rigidly the rigid of variable portion 60 becomes
When change, the flexural rigidity of section 37 also changes therewith.Electrical power is separately supplied to electrode.Therefore, rigidity
The variable respective rigidity in portion 60 is varied independently, and the respective flexural rigidity of section 37 is also varied independently.Institute as above
It states, the variable portion 60 of rigidity makes the flexural rigidity of section 37 change by the variation in rigidity in the variable portion 60 of rigidity, passes through section
37 flexural rigidity variation makes the flexural rigidity of flexible pipe 35 locally change.
Marmem also can be used instead of EPAM in the variable portion 60 of rigidity.
Insertion apparatus 10 has state detecting section 70, is used to detect the shape of the flexible pipe 35 about the state of flexible pipe 35
State information.In the present embodiment, the state of flexible pipe 35 indicates the bending state of flexible pipe 35, and for example, flexible pipe 35 is curved
Song amount (curved size).The state of flexible pipe 35 also may include the curved direction of flexible pipe 35.
As an example, state detecting section 70 has the light using the loss of the output optical transmission as caused by the bending of optical fiber 73
Fiber sensor 70a.Fibre optical sensor 70a includes the light source 71 of emergent light；1 optical fiber 73 that light is guided；Light is carried out
Reflect the reflecting part (not shown) so that light guided by optical fiber 73 negative line feed in optical fiber 73；Receive reflection after light by
Light portion 77；With optical branch portion 79.Light source 71 is such as with LED.Light source 71 with for be emitted carry out observe and camera shooting light
Light supply apparatus light source split settings.Optical fiber 73 is built in endoscope 20, has flexibility.Optical fiber 73, which has, is mounted in insertion
Multiple detected portions (not shown) in portion 30.Multiple detected portion configurations are different from each other on the long axis direction of optical fiber 73
Position.As long as detected portion configures at the position that change flexural rigidity of flexible pipe 35.Thus, in present embodiment
In, detected portion configures in each section 37 in the inside of flexible pipe 35.Optical fiber 73 can be changed portion 60 with rigidity in flexible pipe 35
It is arranged side-by-side.Reflecting part configuration is in the front end of the optical fiber 73 for the front end for being located at insertion section 30.Acceptance part 77 can for example have
There is light receiving element as the element and photodiode of light splitting as optical splitter or colour filter.The radicle of optical fiber 73,
Light source 71 and acceptance part 77 are connect with 79 optics of optical branch portion.Optical branch portion 79 is for example with photo-coupler or half-reflecting mirror.Light
The light directing optical fiber 73 that branch portion 79 will be emitted from light source 71, and the return light that will be reflected and guided by optical fiber 73 by reflecting part
It is oriented to acceptance part 77.That is, light is according to light source 71, optical branch portion 79, optical fiber 73, reflecting part, optical fiber 73, optical branch portion 79, light
Portion 77 sequentially travels.Light source 71, acceptance part 77 and optical branch portion 79 are for example mounted in control device 80.
When insertion section 30 is bent, optical fiber 73 is correspondingly bent with the bending.Along with this, the light propagated in optical fiber 73
A part for example, by each other to different wavelength have sensitivity detected portion and be emitted (leakage) to outside.It is detected
Portion is the changed component of output optical transmission for making the light of optical characteristics such as provision wavelengths of optical fiber 73.Thus, when optical fiber 73
When bending, the output optical transmission of optical fiber 73 correspondingly changes with the amount of bow of optical fiber 73.Variation including the output optical transmission
The optical signal of information is received by acceptance part 77.Optical signal is exported as the status information of flexible pipe 35 to control and is filled by acceptance part 77
Set the aftermentioned shape calculation part 81 configured in 80.
It is also possible to configure 1 detected portion in 1 optical fiber 73, in this case, configures multifiber.This is in optical fiber
Long axis direction on identical position or neighbouring position and position different from each other in the circumferential direction of optical fiber configure multiple quilts
Test section.It in this case, can be by the combination of the testing result of multiple detected portions, to detect amount of bow and curved side
To.
State detecting section 70 is not limited to fibre optical sensor 70a.State detecting section 70, which also can have, for example answers
Become any one of elements such as sensor, acceleration transducer, gyro sensor, coil.Strain transducer for example detect by
Bending strain caused by the external force (pressure) that flexible pipe 35 is subject to from external (such as duct portion).Acceleration transducer detection is flexible
The acceleration of pipe 35.The angular speed of gyro sensor detection flexible pipe 35.The shape iso-deflection of the elements such as coil and flexible pipe 35
The state of property pipe 35 accordingly generates magnetic field.
After the instruction since input unit (not shown) has input detection to state detecting section 70, state detecting section 70 1
Straight row detects (movement).The opportunity of detection can be every process certain time implementation, be not particularly limited.Input unit is general
Input equipment, the e.g. pointing devices such as keyboard, mouse, label reader, button switch, sliding block, driver plate.Input unit
It is connect with control device 80.Input unit can be used for inputting the various instructions for making 10 movement of insertion apparatus by user.
Insertion apparatus 10 has shape calculation part 81 and rigidity control portion 91 of the configuration in control device 80.Shape calculates
Portion 81 and rigidity control portion 91 are constituted such as the hardware circuit by including ASIC.Shape calculation part 81 and rigidity control portion 91
It can be made of processor.In the case where shape calculation part 81 and rigidity control portion 91 are made of processor, in processor energy
Program code is stored in advance in the internal storage or external memory (not shown) enough accessed, by executing the journey by processor
Sequence code and function the processor as shape calculation part 81 and rigidity control portion 91.
Shape calculation part 81 is based on status information and calculates shape information, which is about along in flexible pipe 35
The information of the shape of the flexible pipe 35 in mandrel direction.Shape calculation part 81 calculates shape information at the regulation moment.For example, shapometer
Calculation portion 81 calculates flexible pipe according to the relationship of the characteristic to the incident incident light of optical fiber 73 and the emergent light being emitted from optical fiber 73
35 shape information.Specifically, shape calculation part 81 calculates shape based on the status information exported from fibre optical sensor 70a
Information specifically calculates the curved shape for actually occurring the flexible pipe 35 of curved part.The curved shape of the flexible pipe 35
Radius of curvature for example including flexible pipe 35.Shape calculation part 81 will be by the curved shape of regulation moment calculated flexible pipe 35
As the insertion path of the flexible pipe 35 in insertion process.As described above, shape calculation part 81 is based at the regulation moment by state
The status information for the flexible pipe 35 that test section 70 detects calculates the insertion path of flexible pipe 35 at the regulation moment.For this purpose, shape
Calculation part 81 calculates the shape information (insertion path) of each section 37 based on status information.Then, shape calculation part 81 is by each area
The shape information of section is stitched together, and calculates the shape information of flexible pipe 35.Shape calculation part 81 calculates inserting for each time
Enter path.
It, will be here, first shape information will be known as by the calculated shape information of shape calculation part 81 at the first moment
Second moment was known as the second shape information by the calculated shape information of shape calculation part 81.After second moment was the first moment
At the time of.The insertion path at the first moment is known as the first insertion path C1, the insertion path at the second moment is known as second and is inserted
Enter path C2 (referring to Fig. 3).
Shape calculation part 81 is also based on first shape information and the second shape information, when calculating about the first moment with second
The information of the change in shape of section 37 between quarter is as shape information.Shape information indicates the insertion path of flexible pipe 35, because
This, change in shape indicates displacement ± e of the second insertion path C2 relative to the first insertion path C1 (referring to Fig. 3).
In this, it is assumed that section 37 have configuration the front end of section 37, indicate in the direction of insertion of insertion section 30
The front position at front position.For example, the shape information that shape calculation part 81 calculates front position (is inserted into path C1, C2 and is inserted
Enter the displacement ± e in path).
Shape calculation part 81 determines the variable quantity g of flexural rigidity corresponding with the calculated insertion displacement ± e in path,
And rigidity control portion 91 is output this to, this will be explained below.
Rigidity control portion 91 is based on the variable quantity g control of flexural rigidity by rigidly can be changed changing for the flexural rigidity implemented of portion 60
Become.
Here, illustrating the processing and the base that determine variable quantity g corresponding with displacement ± e in 1 section 37a referring to Fig. 3
The processing of flexural rigidity appropriate is determined in variable quantity g.Flexural rigidity appropriate said here, refers to as the curved of target value
Qu Gang property (G+g (t)).Each section 37 is implemented similarly to handle.
Here, the flexural rigidity G of the radius of curvature R of the section 37a at the first moment, the second moment and section 37a is known as
Radius of curvature R 1, R2 and flexural rigidity G1, G2.
In the present embodiment, such as the case where radius of curvature R 2 is become smaller relative to radius of curvature R 1 with displacement-e
Under, rigidity control portion 91 controls flexural rigidity G so that flexural rigidity G2 is greater than flexural rigidity G1.That is, rigidity control portion 91 makes
Section 37a is hardened, so that displacement-e becomes 0, so that the second insertion path C2 at the second moment and first moment
First insertion path C1 is consistent.
In the present embodiment, such as the case where radius of curvature R 2 is become larger relative to radius of curvature R 1 with displacement+e
Under, rigidity control portion 91 controls flexural rigidity G so that flexural rigidity G2 is less than flexural rigidity G1.That is, rigidity control portion 91 makes
Section 37a softens, so that displacement+e becomes 0, so that the second of the second moment is inserted into the first of path C2 and the first moment
It is consistent to be inserted into path C1.
As described above, in order to control flexural rigidity G by rigidity control portion 91, shape calculation part 81 determines to insert with calculated
Enter the variable quantity g of the corresponding flexural rigidity G of displacement ± e of path C1, C2, so that all always maintaining at any time originally
(the first moment) insertion path C1, in other words, so that the displacement ± e of radius of curvature R becomes 0 at any time.Variation
Amount g for example indicates variable quantity of the flexural rigidity G2 relative to flexural rigidity G1.Thus, such as at the second moment as target value
Flexural rigidity (G+g (t)) is flexural rigidity G1 plus value obtained from variable quantity g.
Shape calculation part 81 calculates variable quantity g according to following formula (1).Formula (1) indicates ratio control.
G (t)=Kpe (t) ... formula (1)
T is the time, and Kp is constant.When using formula (1), shape calculation part 81 is according to the second insertion path relative to first
The time shifting in path is inserted into determine the variable quantity g of flexural rigidity.
Here, variable quantity g is directly proportional to displacement e in formula (1).Kp is constant, therefore, as displacement e increases,
Variable quantity g also increases.That is, can generate to make flexural rigidity reach the flexural rigidity (G+g as target value at the second moment
(t)) the problem of spending the time.But correspondingly determine that the value of constant Kp is highly difficult with displacement e.
In order to solve this problem, shape calculation part 81 can also calculate variable quantity g according to following formula (2).Formula (2) indicates
The PI control of the time integral item of displacement is increased on the basis of formula (1).
Ki is constant.When using formula (2), shape calculation part 81 is inserted into road relative to first according to the second insertion path
The time integral of the displacement of diameter determines the variable quantity g of flexural rigidity.
By increasing time integral item, formula (2) can be played the role that if persistently grown with the state that deviation is displaced
Time then increases correspondingly variable quantity g, so that promptly close to the flexural rigidity (G+g (t)) as target value.
In PI control, the time of integration is smaller, and displacement more can be corrected promptly.But there are the following problems: when integral
Between smaller, the overshoot for the flexural rigidity (G+g (t)) that rigidity is more than as target value of more bending, or using as target value
Flexural rigidity (G+g (t)) centered on vibrate.
In order to solve this problem, shape calculation part 81 can also calculate variable quantity g according to following formula (3).Formula (3) indicates
The PID control of the time diffusion item of displacement is increased on the basis of formula (2).
Kd is constant.Shape calculation part 81 is according to the time to the second insertion path relative to the displacement in the first insertion path
Differential determines the variable quantity g of flexural rigidity.
Time diffusion item has following damping effect (damping effect): in the feelings that variable quantity g sharp changes
Under condition, inhibit the change dramatically of the flexural rigidity directly proportional to the size of variable quantity g.
As described above, being preferably based on time shifting, the time integral to displacement and the time diffusion to displacement to determine
Variable quantity g.
Shape calculation part 81 determines and shape information (the corresponding variable quantity g of displacement e), and the variable quantity g that will be determined
It exports to rigidity control portion 91.Rigidity control portion 91 is based on variable quantity g and controls flexural rigidity G.
For example, it is assumed that having calculated displacement-e in the second moment shape calculation part 81.In this state, when to insertion section
When 30 application insertion force, depending on flexural rigidity G2 at this time, it is possible to which insertion force, which is not converted into, pushes away insertion section 30
Into propulsive force, but flexible pipe 35 is made to buckle.Thus, the easy insertion of the insertion section 30 including flexible pipe 35 is possible to drop
It is low.Then, in the present embodiment, shape calculation part 81 determines variable quantity gA corresponding with displacement-e, rigidity control portion 91
Flexural rigidity G2 is controlled at bigger than flexural rigidity G1 based on variable quantity gA, makes the second insertion path C2 and the first insertion path C1
Unanimously.Therefore, insertion force can be used as propulsive force, flexible pipe 35 do not buckle by bending section 13, and without departing from
The easy insertion of insertion path C1 originally, insertion section 30 improve.
In another example, it is assumed that displacement+e has been calculated in the second moment shape calculation part 81.In this state, when to insertion
When portion 30 applies insertion force, depending on flexural rigidity G2 at this time, insertion force is converted into the large intestine for for example jacking up large intestine
The power of wall.To which big intestinal wall is jacked up, and insertion section 30 unexpectedly applies excessive load to big intestinal wall, and patient agonizes.In
It is that in the present embodiment, shape calculation part 81 determines variable quantity gB corresponding with displacement+e, and rigidity control portion 91 is based on becoming
Change amount gB controls flexural rigidity G2 at smaller than flexural rigidity G1, keeps the second insertion path C2 consistent with the first insertion path C1.
Therefore, even if applying insertion force to insertion section 30, insertion force can not be to big intestinal wall used also as propulsive force, insertion section 30
It promotes with applying excessive load.Thus, insertion section 30 will not unexpectedly apply excessive load, the pain of patient to big intestinal wall
It reduces.
As described above, when by the first moment by the insertion represented by the calculated first shape information of shape calculation part 81
The insertion path of flexible pipe 35 in portion 30 is known as the first insertion path C1, will be calculated at the second moment by shape calculation part 81
The second shape information represented by the insertion path of flexible pipe 35 in insertion section 30 when being known as the second insertion path C2, rigidity
Control unit 91 and second insertion path C2 relative to first insertion path C1 displacement correspondingly, to insertion path displacement
The corresponding section 37 in part controls the change by rigidly can be changed the flexural rigidity that portion 60 implements.Flexural rigidity after change refer to through
The flexural rigidity for correspondingly flexible pipe 35 being suitble to be inserted into shape information distribution is provided to each section 37 by rigidly can be changed portion 60
Flexural rigidity.In addition, the flexural rigidity, which refers to, provides the flexural rigidity of the stiffness distribution to flexible pipe 35 via section 37.
Thus, even if applying insertion force to insertion section 30, insertion force, which will not be converted into, for example jacks up large intestine
The power of big intestinal wall, and it is used as the propulsive force for promoting insertion section 30.To which flexible pipe 35 passes through bending section with not buckling
13, and without departing from insertion path originally, the easy insertion of insertion section 30 improves.Also, big intestinal wall will not be inserted into power
Amount jacks up, and insertion section 30 will not unexpectedly apply excessive load to big intestinal wall, and the pain of patient is reduced.
In the present embodiment, the displacement of rigidity control portion 91 and the second insertion path C2 relative to the first insertion path C1
Amount ± e correspondingly controls flexural rigidity.To, in the present embodiment, buckling for flexible pipe 35 can be prevented, can be improved to
The easy insertion in the deep of duct portion, will not the wall portion to duct portion unexpectedly apply excessive load, can reduce to being inserted
Enter the load of body application.
In the present embodiment, flexural rigidity is controlled in each section 37.Thus, it in the present embodiment, can be fine
The flexural rigidity of ground control flexible pipe 35.
In the present embodiment, shape calculation part 81 determines the variable quantity g of flexural rigidity corresponding with displacement e.Rigidity
Control unit 91 controls the flexural rigidity (G+g (t)) as target based on the variable quantity g of flexural rigidity.Thus, it is possible to be suitble to
The flexural rigidity distribution that flexible pipe 35 is inserted into, can be with high safety and be simply inserted into operation, is capable of providing easy-to-use interior
Sight glass 20.
In the present embodiment, shape calculation part 81 according to second insertion path C2 relative to first insertion path C1 when
The variable quantity g of meta position in-migration decision flexural rigidity.Therefore, variable quantity g can be simply determined.
Shape calculation part 81 is according to the time integral to the second insertion path C2 relative to the displacement of the first insertion path C1
To determine the variable quantity g of flexural rigidity.Therefore, if for a long time with the deviation i.e. state of displacement, correspondingly making to become
Change amount g increases, so as to promptly close to the flexural rigidity (G+g (t)) as target.
Shape calculation part 81 is according to the time diffusion to the second insertion path C2 relative to the displacement of the first insertion path C1
To determine the variable quantity of flexural rigidity.Therefore, it can prevent to overshoot, can prevent using the flexural rigidity (G as target value
+ g (t)) centered on vibrate.In the case where variable quantity g sharp changes, flexural rigidity can be inhibited using damping effect
The change dramatically of G.
In the present embodiment, controlling can be improved using time integral and time diffusion.
The present invention is not limited to above embodiment itself, can be within the scope of its spirit in implementation phase
Constituent element is deformed and embodied.It, being capable of shape by the way that multiple constituent elements disclosed in above embodiment is appropriately combined
At multiple technologies scheme.
Claims (5)
1. a kind of flexible pipe insertion apparatus characterized by comprising
Flexible pipe can be inserted into and be inserted into body, be divided into and arrange rows of multiple sections along central axis direction；
The variable portion of rigidity, can make the flexural rigidity of the flexible pipe variable as unit of the section；
State detecting section is used to detect the status information of the state about the flexible pipe；
Shape calculation part is based on the status information, calculates the shape information of the shape about the flexible pipe；With
Rigidity control portion is used to control the change that can be changed the flexural rigidity that portion implements by the rigidity,
When by the first moment by the flexible pipe represented by the calculated shape information of the shape calculation part insert
Enter path and is known as the first insertion path, it will be represented by the second moment be by the calculated shape information of the shape calculation part
The insertion path of flexible pipe when being known as the second insertion path, the rigidity control portion is opposite with the second insertion path
Correspondingly in the displacement that described first is inserted into path, section corresponding with the insertion displaced portion in path is controlled by described rigid
Property the change of the flexural rigidity implemented of variable portion.
2. flexible pipe insertion apparatus as described in claim 1, it is characterised in that:
The shape calculation part determines the variable quantity of the flexural rigidity corresponding with the displacement,
The rigidity control portion controls the flexural rigidity based on the variable quantity of the flexural rigidity.
3. flexible pipe insertion apparatus as claimed in claim 2, it is characterised in that:
The shape calculation part is determined according to the second insertion path relative to the time shifting in first insertion path
The variable quantity of the flexural rigidity.
4. flexible pipe insertion apparatus as claimed in claim 3, it is characterised in that:
The shape calculation part is according to the time product to the second insertion path relative to the displacement in first insertion path
Divide the variable quantity to determine the flexural rigidity.
5. flexible pipe insertion apparatus as claimed in claim 4, it is characterised in that:
The shape calculation part is according to micro- relative to the time of the displacement in first insertion path to the second insertion path
Divide the variable quantity to determine the flexural rigidity.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2016/062813 WO2017183196A1 (en) | 2016-04-22 | 2016-04-22 | Flexible tube insertion device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109068940A true CN109068940A (en) | 2018-12-21 |
| CN109068940B CN109068940B (en) | 2021-04-20 |
Family
ID=60115838
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680084815.XA Active CN109068940B (en) | 2016-04-22 | 2016-04-22 | Flexible pipe insertion device |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US20190046011A1 (en) |
| JP (1) | JP6620225B2 (en) |
| CN (1) | CN109068940B (en) |
| WO (1) | WO2017183196A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7167127B2 (en) * | 2018-03-06 | 2022-11-08 | オリンパス株式会社 | A flexible tube insertion device, a stiffness control device, a method of inserting an insertion section, and a recording medium recording a stiffness control program |
| US20200375665A1 (en) * | 2019-05-31 | 2020-12-03 | Canon U.S.A., Inc. | Medical continuum robot and methods thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050177026A1 (en) * | 2004-02-09 | 2005-08-11 | Hoeg Hans D. | Endoscope with variable direction of view module |
| US20070270717A1 (en) * | 2005-09-30 | 2007-11-22 | Cornova, Inc. | Multi-faceted optical reflector |
| US20080132762A1 (en) * | 2006-12-04 | 2008-06-05 | University Of Washington | Flexible endoscope tip bending mechanism using optical fiber as compression member |
| JP2015002861A (en) * | 2013-06-20 | 2015-01-08 | Hoya株式会社 | Rigidity varying device for endoscope insertion part |
| WO2015083473A1 (en) * | 2013-12-03 | 2015-06-11 | オリンパス株式会社 | Variable rigidity actuator |
| JP2016007434A (en) * | 2014-06-25 | 2016-01-18 | オリンパス株式会社 | Endoscope apparatus, operating method, and operating program |
-
2016
- 2016-04-22 WO PCT/JP2016/062813 patent/WO2017183196A1/en active Application Filing
- 2016-04-22 CN CN201680084815.XA patent/CN109068940B/en active Active
- 2016-04-22 JP JP2018512753A patent/JP6620225B2/en active Active
-
2018
- 2018-10-15 US US16/159,775 patent/US20190046011A1/en not_active Abandoned
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050177026A1 (en) * | 2004-02-09 | 2005-08-11 | Hoeg Hans D. | Endoscope with variable direction of view module |
| US20070270717A1 (en) * | 2005-09-30 | 2007-11-22 | Cornova, Inc. | Multi-faceted optical reflector |
| US20080132762A1 (en) * | 2006-12-04 | 2008-06-05 | University Of Washington | Flexible endoscope tip bending mechanism using optical fiber as compression member |
| JP2015002861A (en) * | 2013-06-20 | 2015-01-08 | Hoya株式会社 | Rigidity varying device for endoscope insertion part |
| WO2015083473A1 (en) * | 2013-12-03 | 2015-06-11 | オリンパス株式会社 | Variable rigidity actuator |
| JP2016007434A (en) * | 2014-06-25 | 2016-01-18 | オリンパス株式会社 | Endoscope apparatus, operating method, and operating program |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6620225B2 (en) | 2019-12-11 |
| CN109068940B (en) | 2021-04-20 |
| JPWO2017183196A1 (en) | 2019-02-14 |
| US20190046011A1 (en) | 2019-02-14 |
| WO2017183196A1 (en) | 2017-10-26 |
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